LUCID learns embodiment-agnostic intent models from unstructured human videos to train dexterous robot policies in simulation, enabling zero-shot transfer on real-world tasks like stirring and wiping.
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LUCID: Learning Embodiment-Agnostic Intent Models from Unstructured Human Videos for Scalable Dexterous Robot Skill Acquisition
LUCID learns embodiment-agnostic intent models from unstructured human videos to train dexterous robot policies in simulation, enabling zero-shot transfer on real-world tasks like stirring and wiping.